AP_Math: replace divide with multiply in distance_to_segment

2017-09-01 10:14:59 +09:00 · 2017-09-01 10:14:59 +09:00 · 2aa1f3f100
commit 2aa1f3f100
parent e892bbbac0
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_Math/vector3.cpp
+++ b/libraries/AP_Math/vector3.cpp
@ -405,7 +405,7 @@ float Vector3<T>::distance_to_segment(const Vector3<T> &seg_start, const Vector3
    }

    // semiperimeter of triangle
-    float s = (a+b+c)/2.0f;
+    float s = (a+b+c) * 0.5f;

    float area_squared = s*(s-a)*(s-b)*(s-c);
    // area must be constrained above 0 because a triangle could have 3 points could be on a line and float rounding could push this under 0